Delta EtherCAT CMM-EC03 - PDO Mapping Configuration; Default PDO Mapping Configuration

EtherCAT Communication Card: CMM-EC02/ CMM-EC03
CMM-EC02/ CMM-EC03 Operation Manual
22
4.2 PDO mapping configuration
4.2.1 Default PDO mapping configuration
The following table shows the default PDO mapping configuration of the EtherCAT motor drive
for data exchange. This is also defined in the XML file of the EtherCAT slave. You can modify
the PDO mapping configuration according to the requirements.
RxPDO mapping
First group of RxPDO mapping in VL Mode
RxPDO
(0x1600)
Controlword
(0x6040)
vl target velocity
(0x6042)
Mode of Operation
(0x6060)
Max Torque
(0x6072)
Max Motor Speed
(0x6080)
TxPDO mapping
First group of TxPDO mapping
TxPDO
(0x1A00)
Statusword
(0x6041)
Mode of Operation
Display
(0x6061)
Position Actual Value
(0x6064)
Velocity Actual Value
(0x606C)
Torque Actual Value
(0x6077)
Error Code
(0x603F)